CN106598091B - A kind of control system and method for eliminating drill string stick slip vibration - Google Patents
A kind of control system and method for eliminating drill string stick slip vibration Download PDFInfo
- Publication number
- CN106598091B CN106598091B CN201611179935.6A CN201611179935A CN106598091B CN 106598091 B CN106598091 B CN 106598091B CN 201611179935 A CN201611179935 A CN 201611179935A CN 106598091 B CN106598091 B CN 106598091B
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- drill string
- speed
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- stick
- frequency converter
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/34—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power
- G05D13/46—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover with auxiliary non-electric power using regulating devices with proportional band and integral action, i.e. PI regulating devices
Abstract
The invention discloses a kind of control system and method for eliminating drill string stick slip vibration, the step of method, is as follows: S1, setting and is configured to drill string ginseng after parameter initialization；S2, when parameter stick slip vibration instruction SSI reaches certain value, start anti-stick sliding vibrational system；S3, the size that SSI is indicated according to parameter stick slip vibration, are arranged corresponding prevention system；The actual speed fed back to after S4, generation stick slip vibration according to frequency converter VFD is compared with the given speed of motor, it is adjusted by PI adjusting controller, after an additional torque to frequency converter VFD speed regulator output, the revolving speed of motor is controlled by frequency converter, so that drill bit be made to be detached from stick-slip region.The amplitude of stick slip vibration can be effectively reduced or eliminate stick slip vibration, alleviate the fatigue rupture degree of drill string, reduced because the probability of down-hole accident occurs for drill string fatigue；Have many advantages, such as that drill bit can be made to be rapidly directed away from stick slip vibration region, improve drilling speed, reduce drilling cost and improve drilling efficiency.
Description
Technical field
The present invention relates to the drill string of oil drilling anti-stick sliding technical field more particularly to a kind of eliminate drill string stick slip vibration
Control system and method.
Background technique
Drilling tool often " is suppressed and is stopped " because torque is excessive in drilling process, and drilling tool can be fast suddenly after torque reaches a certain value
Quick-release is put, and this phenomenon is known as drilling tool stick-slip.The stick-slip of drilling tool is frequently accompanied by underground vibration, be easy to cause the tooth that collapses of drill bit, contracts
The stub drill service life will cause drill string or lower drilling tool twist off when serious.
The generation of drilling tool stick slip vibration is caused by strong twisting vibration and underground frictional resistance.This vibration shows themselves in that In
Drill bit is stationary in a period of time, and when the torque being added on drill string is sufficiently large, the unexpected high-speed rotation of drill bit, revolving speed can be
Moment reaches very high values.Drill string fatigue is easily caused in this way, reduces working efficiency and the service life of drill string, is difficult drilling well work
It continues, or even the injury to damaging property of drilling equipment.For drill string stick slip vibration, there is presently no a kind of effective
Solution.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of control systems for eliminating drill string stick slip vibration
And method, solving drill string leads to drill string fatigue due to drill string stick slip vibration in drilling process, reduces the work effect of drill string
The problem of rate and service life.
The purpose of the present invention is achieved through the following technical solutions: a kind of control system eliminating drill string stick slip vibration
System, including touch screen, a programmable controller PLC and a motor with encoder；The touch screen and programmable control
Device PLC processed is connected with each other, for showing given value and actual value, the Motor torque actual value and limits value, motor of motor speed
Parameter is arranged in revolving speed, torque, operational status information and drill string；The programmable controller PLC is used for through control motor
Speed eliminates drill string stick-slip phenomenon；The motor is for obtaining DRILL-STRING SYSTEM movement, and the motor speed, torque are by can
Programmable controller PLC carries out real-time control；
It further include a frequency converter VFD；The slave motor encoder acquisition pulse data calculate the reality of motor in real time
Speed, then pass through the actual speed that programmable controller PLC reads motor from frequency converter VFD.
The frequency converter VFD includes PI adjusting controller, and the PI adjusting controller is for calculating Motor torque
Given value and motor speed given value.
The programmable controller PLC controls motor speed by following two mode:
Mode one: programmable controller PLC acquires motor speed actual value from frequency converter VFD, with given motor speed
Value is compared, and obtains Motor torque given value by PI adjusting controller, then is attached to the speed PI output valve of frequency converter VFD
On, to realize control motor speed；
Mode two: programmable controller PLC acquires Motor torque actual value from frequency converter VFD, through PI adjusting controller
Inverse operation calculates a velocity amplitude, is attached in frequency converter VFD speed PI input value, to realize control motor speed.
A kind of the step of control method for eliminating drill string stick-slip needle, the method, is as follows:
S1, drill string parameters are configured after parameter initialization；
S2, when parameter stick slip vibration instruction SSI reaches certain value, start anti-stick sliding vibrational system；
S3, the size that SSI is indicated according to parameter stick slip vibration, are arranged corresponding prevention system；
S4, compared after generating stick slip vibration according to the given speed of the frequency converter VFD actual speed fed back to and motor
Compared with, by PI adjusting controller adjust, add a torque to frequency converter VFD speed regulator export after, pass through frequency converter VFD
To control the revolving speed of motor；Or the actual torque fed back to according to frequency converter VFD, it is attached by PI adjusting controller inverse operation
Before adding speed to frequency converter VFD speed regulator input, the revolving speed of motor is controlled by frequency converter VFD；To make to bore
Head is detached from stick-slip region.
Specific step is as follows by the S1:
The parameter of drill string is selected or inputted after S11, parameter initialization；
S12, observation judge whether stick slip vibration cycle T ss and torque vibration period are consistent；
S13, if it is inconsistent, adjustment stick slip vibration cycle T ss until consistent with the torque vibration period；
If S14, consistent, programmable controller PLC calculates PI by drill string parameters and stick slip vibration cycle T ss and adjusts control
The P value and I value of device processed.
The calculation formula of the P value and I value is as follows:
Wherein, ξ indicates the characteristic impedance of drill string, and a indicates prevention parameter 0~100%, ωsIndicate stick slip vibration angular frequency,
JTDIndicate that top turns inertia.
The calculation formula of the characteristic impedance ξ of the drill string is as follows:
Wherein, G indicates the coefficient of rigidity of drill string, and ρ indicates drill string density, IpIndicate the polar moment of inertia of drill string；IpMeter
It is as follows to calculate formula:
Wherein,diAnd DiIndicate the internal-and external diameter of drill string,
LiIndicate drill string length.
The stick slip vibration angular frequencysCalculation formula it is as follows:
Wherein, Ks=GIp/ L indicates drill string stiffness coefficient, Jb=ρ IpL indicates that drill string rotary inertia, L indicate drill string length.
The beneficial effects of the present invention are: a kind of control system and method for eliminating drill string stick slip vibration, can effectively drop
The amplitude of low stick slip vibration eliminates stick slip vibration, alleviates the fatigue rupture degree of drill string, reduces because of drill string fatigue
The probability of down-hole accident occurs；With drill bit can be made to be rapidly directed away from stick slip vibration region, drilling speed is improved, reduce and drilling cost and mention
The advantages that high drilling efficiency.
Detailed description of the invention
Fig. 1 is the structure chart of system；
Fig. 2 is the working principle diagram for controlling motor speed mode one；
Fig. 3 is the working principle diagram for controlling motor speed mode two；
Fig. 4 is the control flow chart of system.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of control system for eliminating drill string stick slip vibration, including touch screen, a programmable controller
PLC and motor with encoder；The touch screen and programmable controller PLC is connected with each other, for showing motor speed
The given value and actual value of degree, Motor torque actual value and limits value, motor speed, torque, operational status information and drill string are set
Set parameter；The programmable controller PLC is used for the speed by controlling motor to eliminate drill string stick-slip phenomenon；The electricity
For machine for obtaining DRILL-STRING SYSTEM movement, the motor speed, torque carry out real-time control by programmable controller PLC；
It further include a frequency converter VFD；The slave motor encoder acquisition pulse data calculate the reality of motor in real time
Speed, then pass through the actual speed that programmable controller PLC reads motor from frequency converter VFD.
The frequency converter VFD includes PI adjusting controller, and the PI adjusting controller is for calculating Motor torque
Given value and motor speed given value.
As shown in Figures 2 and 3, the programmable controller PLC controls motor speed by following two mode:
Mode one: programmable controller PLC acquires motor speed actual value from frequency converter VFD, with given motor speed
Value is compared, and obtains Motor torque given value by PI adjusting controller, then is attached to the speed PI output valve of frequency converter VFD
On, to realize control motor speed；
Mode two: programmable controller PLC acquires Motor torque actual value from frequency converter VFD, through PI adjusting controller
Inverse operation calculates a velocity amplitude, is attached in frequency converter VFD speed PI input value, to realize control motor speed.
A kind of the step of control method for eliminating drill string stick-slip needle, the method, is as follows:
S1, drill string parameters are configured after parameter initialization；
S2, when parameter stick slip vibration instruction SSI reaches certain value, start anti-stick sliding vibrational system；
S3, the size that SSI is indicated according to parameter stick slip vibration, are arranged corresponding prevention system；The setting root of prevention system
It is arranged according to the severity of stick slip vibration, if stick slip vibration is more serious, prevention system setting is bigger, if stick slip vibration is not
It is too serious, it can suitably reduce prevention system；
S4, compared after generating stick slip vibration according to the given speed of the frequency converter VFD actual speed fed back to and motor
Compared with, by PI adjusting controller adjust, add a torque to frequency converter VFD speed regulator export after, pass through frequency converter VFD
To control the revolving speed of motor；Or the actual torque fed back to according to frequency converter VFD, it is attached by PI adjusting controller inverse operation
Before adding speed to frequency converter VFD speed regulator input, the revolving speed of motor is controlled by frequency converter VFD；To make to bore
Head is detached from stick-slip region.
Specific step is as follows by the S1:
The parameter of drill string is selected or inputted after S11, parameter initialization；
S12, observation judge whether stick slip vibration cycle T ss and torque vibration period are consistent；
S13, if it is inconsistent, adjustment stick slip vibration cycle T ss until consistent with the torque vibration period；
If S14, consistent, programmable controller PLC calculates PI by drill string parameters and stick slip vibration cycle T ss and adjusts control
The P value and I value of device processed.
The calculation formula of the P value and I value is as follows:
Wherein, ξ indicates the characteristic impedance of drill string, and a indicates prevention parameter 0~100%, ωsIndicate stick slip vibration angular frequency,
JTDIndicate that top turns inertia.
The calculation formula of the characteristic impedance ξ of the drill string is as follows:
Wherein, G indicates the coefficient of rigidity of drill string, and ρ indicates drill string density, IpIndicate the polar moment of inertia of drill string；IpMeter
It is as follows to calculate formula:
Wherein,diAnd DiIndicate the internal-and external diameter of drill string,
LiIndicate drill string length.
The stick slip vibration angular frequencysCalculation formula it is as follows:
Wherein, Ks=GIp/ L indicates drill string stiffness coefficient, Jb=ρ IpL indicates that drill string rotary inertia, L indicate drill string length.
The general stick slip vibration period is 3~10s, respective frequencies are as follows: 0.1Hz~0.333Hz is filtered by bandpass filter
The interference of high and low frequency part, by the frequency near stick slip vibration to elimination stick slip vibration advantageously.
Preferably, when parameter stick slip vibration instruction SSI reaches 30%, start anti-stick sliding vibrational system, and in touch screen
Main interface tendency chart in the fluctuation of speed and torque that generates display with systemic effect.
As shown in figure 4, embodiment one, the control flow of system is as follows:
Step 1: the parameter of drill string is selected or inputted after parameter initialization；
Step 2: judging whether to generate stick slip vibration, if not generating stick slip vibration, wait until generating stick-slip vibration
Until dynamic；
Step 3: whether stick slip vibration cycle T ss and torque vibration period are consistent in observation touch screen main interface；If no
Unanimously, then stick slip vibration cycle T ss is adjusted until consistent with the torque vibration period；
Step 4: programmable controller PLC calculates PI adjusting controller by drill string parameters and stick slip vibration cycle T ss
P value and I value；
Step 5: starting anti-stick sliding vibrational system when parameter stick slip vibration instruction SSI reaches 30%；
Step 6: indicating the size of SSI according to parameter stick slip vibration, corresponding prevention system is set；Prevention system is set
It sets according to the severity of stick slip vibration and is arranged, if stick slip vibration is more serious, prevention system setting is bigger, and stick slip vibration is such as
Fruit is less serious, can suitably reduce prevention system；
Step 7 carries out after generating stick slip vibration according to the given speed of the frequency converter VFD actual speed fed back to and motor
Compare, adjusted by PI adjusting controller, after adding a torque to frequency converter VFD speed regulator output, passes through frequency converter
To control the revolving speed of motor；Or the actual torque fed back to according to frequency converter VFD, it is attached by PI adjusting controller inverse operation
Before adding speed to frequency converter VFD speed regulator input, the revolving speed of motor is controlled by frequency converter VFD；To make to bore
Head is detached from stick-slip region；
Step 8: judging whether stick slip vibration eliminates success, prevention coefficient is readjusted if unsuccessful, if success
Then stop anti-stick sliding vibrational system.
The above is only a preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be at this
In the text contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection scope of appended claims of the present invention
It is interior.
Claims (5)
1. a kind of control method for eliminating the vibration of drill string stick-slip, it is characterised in that: the step of the method is as follows:
S1, drill string parameters are configured after parameter initialization；
Specific step is as follows by the S1:
The parameter of drill string is selected or inputted after S11, parameter initialization；
S12, observation judge whether stick slip vibration cycle T ss and torque vibration period are consistent；
S13, if it is inconsistent, adjustment stick slip vibration cycle T ss until consistent with the torque vibration period；
If S14, consistent, programmable controller PLC calculates PI adjusting controller by drill string parameters and stick slip vibration cycle T ss
P value and I value；
The calculation formula of the P value and I value is as follows:
Wherein, ξ indicates the characteristic impedance of drill string, and a indicates prevention parameter 0~100%, ωsIndicate stick slip vibration angular frequency, JTDTable
Show that rotary inertia is driven on top；
S2, when parameter stick slip vibration instruction SSI reaches certain value, start anti-stick sliding vibrational system；
S3, the size that SSI is indicated according to parameter stick slip vibration, are arranged corresponding prevention system；
The actual speed fed back to after S4, generation stick slip vibration according to frequency converter VFD is compared with the given speed of motor, is passed through
The adjusting of PI adjusting controller is crossed, after adding a torque to frequency converter VFD speed regulator output, is controlled by frequency converter VFD
The revolving speed of motor processed；Or the actual torque fed back to according to frequency converter VFD adds one by PI adjusting controller inverse operation
Before a speed is inputted to frequency converter VFD speed regulator, the revolving speed of motor is controlled by frequency converter VFD；To keep drill bit de-
From stick-slip region.
2. a kind of shake control method for eliminating drill string stick-slip according to claim 1, it is characterised in that: the brill
The calculation formula of the characteristic impedance ξ of column is as follows:
The stick slip vibration angular frequencysCalculation formula it is as follows:
Wherein, Ks=GIp/ L indicates drill string stiffness coefficient, Jb=ρ IpL indicates that drill string rotary inertia, L indicate drill string length
Wherein, G indicates the coefficient of rigidity of drill string, and ρ indicates drill string density, IpIndicate the polar moment of inertia of drill string；IpCalculating it is public
Formula is as follows:
Wherein,
diAnd DiIndicate the internal-and external diameter of drill string, LiIndicate that drill string length, n are drill string quantity.
3. the control system of a kind of elimination drill string stick slip vibration of method construct according to claim 2, including touch screen, one
A programmable controller PLC and a motor with encoder；The touch screen and programmable controller PLC is connected with each other,
For showing that the given value and actual value of motor speed, Motor torque actual value and limits value, operational status information and drill string are set
Set parameter；The programmable controller PLC is used for the speed by controlling motor to eliminate drill string stick-slip phenomenon；The electricity
For machine for obtaining DRILL-STRING SYSTEM movement, the motor speed, torque carry out real-time control by programmable controller PLC；
It is characterized by also including a frequency converter VFD；The frequency converter VFD is counted in real time from encoder acquisition pulse data
The actual speed of motor is calculated, then reads the actual speed of motor from frequency converter VFD by programmable controller PLC.
4. a kind of control system for eliminating drill string stick slip vibration according to claim 3, it is characterised in that: the frequency conversion
Device VFD includes PI adjusting controller, the PI adjusting controller for calculate Motor torque given value and motor speed to
Definite value.
5. a kind of control system for eliminating drill string stick slip vibration according to claim 4, it is characterised in that: described compiles
Range controller PLC controls motor speed by any one in following two mode:
Mode one: programmable controller PLC from frequency converter VFD acquire motor speed actual value, with given motor speed value into
Row compares, and obtains Motor torque given value by PI adjusting controller, then be attached in the speed PI output valve of frequency converter VFD,
To realize control motor speed；
Mode two: programmable controller PLC acquires Motor torque actual value, the anti-fortune through PI adjusting controller from frequency converter VFD
Calculate and calculate a velocity amplitude, is attached in frequency converter VFD speed PI input value, to realize control motor speed.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179935.6A CN106598091B (en) | 2016-12-19 | 2016-12-19 | A kind of control system and method for eliminating drill string stick slip vibration |
| PCT/CN2017/097435 WO2018113319A1 (en) | 2016-12-19 | 2017-08-15 | Control system and method for resisting stick-slip vibration of drill string |
| SA519402183A SA519402183B1 (en) | 2016-12-19 | 2019-06-18 | Control System and Method for Eliminating Stick-Slip Vibration of Drill String |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179935.6A CN106598091B (en) | 2016-12-19 | 2016-12-19 | A kind of control system and method for eliminating drill string stick slip vibration |
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| Publication Number | Publication Date |
|---|---|
| CN106598091A CN106598091A (en) | 2017-04-26 |
| CN106598091B true CN106598091B (en) | 2019-11-05 |
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| CN201611179935.6A Active CN106598091B (en) | 2016-12-19 | 2016-12-19 | A kind of control system and method for eliminating drill string stick slip vibration |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN106598091B (en) |
| SA (1) | SA519402183B1 (en) |
| WO (1) | WO2018113319A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598091B (en) * | 2016-12-19 | 2019-11-05 | 四川宏华电气有限责任公司 | A kind of control system and method for eliminating drill string stick slip vibration |
| CN107229599B (en) * | 2017-06-21 | 2020-11-10 | 西南石油大学 | Method for monitoring torsional vibration of drill column |
| CN109162692A (en) * | 2018-08-29 | 2019-01-08 | 北京四利通控制技术股份有限公司 | A kind of soft torque control system and method |
| CN112528784B (en) * | 2020-12-01 | 2022-06-21 | 中国地质大学（武汉） | Stick-slip and jump drill abnormity identification method for normal drill string vibration signal |
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2016
- 2016-12-19 CN CN201611179935.6A patent/CN106598091B/en active Active
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2017
- 2017-08-15 WO PCT/CN2017/097435 patent/WO2018113319A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018113319A1 (en) | 2018-06-28 |
| SA519402183B1 (en) | 2022-11-27 |
| CN106598091A (en) | 2017-04-26 |
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